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sdlog2: add logging of ekf2 internal fault message

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This commit is contained in:
Paul Riseborough
2016-05-09 09:40:28 +10:00
committed by Lorenz Meier
parent af9a7a39f2
commit 4b8c7201b7
2 changed files with 3 additions and 3 deletions
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src/modules/sdlog2/sdlog2.c
+1 -1
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@@ -2019,7 +2019,7 @@ int sdlog2_thread_main(int argc, char *argv[])
memcpy(&(log_msg.body.log_EST0.s), buf.estimator_status.states, maxcopy0);
log_msg.body.log_EST0.n_states = buf.estimator_status.n_states;
log_msg.body.log_EST0.nan_flags = buf.estimator_status.nan_flags;
log_msg.body.log_EST0.health_flags = buf.estimator_status.health_flags;
log_msg.body.log_EST0.fault_flags = buf.estimator_status.filter_fault_flags;
log_msg.body.log_EST0.timeout_flags = buf.estimator_status.timeout_flags;
LOGBUFFER_WRITE_AND_COUNT(EST0);
src/modules/sdlog2/sdlog2_messages.h
+2 -2
View File
@@ -396,7 +396,7 @@ struct log_EST0_s {
float s[12];
uint8_t n_states;
uint8_t nan_flags;
uint8_t health_flags;
uint16_t fault_flags;
uint8_t timeout_flags;
};
@@ -662,7 +662,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT_S(TEL1, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT_S(TEL2, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT_S(TEL3, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT(EST0, "ffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fHealth,fTOut"),
LOG_FORMAT(EST0, "ffffffffffffBBHB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fFault,fTOut"),
LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
LOG_FORMAT(EST2, "ffffffffffffHH", "P0,P1,P2,P3,P4,P5,P6,P7,P8,P9,P10,P11,GCHK,CTRL"),
LOG_FORMAT(EST3, "ffffffffffffffff", "P12,P13,P14,P15,P16,P17,P18,P19,P20,P21,P22,P23,P24,P25,P26,P27"),